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<div class="title">range_image.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
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<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_RANGE_IMAGE_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_RANGE_IMAGE_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/common/common_headers.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/common/vector_average.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;typeinfo&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html">   55</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_range_image.html">RangeImage</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt;PointWithRange&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="comment">// =====TYPEDEFS=====</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointWithRange&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">BaseClass</a>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">typedef</span> std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; VectorOfEigenVector3f;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;RangeImage&gt; Ptr;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const RangeImage&gt; ConstPtr;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">enum</span> CoordinateFrame</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      {</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        CAMERA_FRAME = 0,</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        LASER_FRAME  = 1</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      };</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="comment">// =====CONSTRUCTOR &amp; DESTRUCTOR=====</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#af18b2d3410fb7799ad4de375b51df035">   73</a></span>&#160;<span class="comment"></span>      PCL_EXPORTS <a class="code" href="classpcl_1_1_range_image.html#af18b2d3410fb7799ad4de375b51df035">RangeImage</a> ();</div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a274fcd95e5f7c8da5f4f5ecf151bad40">   75</a></span>&#160;      PCL_EXPORTS <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_range_image.html#a274fcd95e5f7c8da5f4f5ecf151bad40">~RangeImage</a> ();</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="comment">// =====STATIC VARIABLES=====</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a34fe4f6701548e2514ae45099309cac4">   79</a></span>&#160;<span class="comment"></span>      <span class="keyword">static</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_range_image.html#a34fe4f6701548e2514ae45099309cac4">max_no_of_threads</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="comment">// =====STATIC METHODS=====</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="comment"></span>      <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#ac504743608967dcd142dc4249b82ea5a">getMaxAngleSize</a> (<span class="keyword">const</span> Eigen::Affine3f&amp; viewer_pose, <span class="keyword">const</span> Eigen::Vector3f&amp; center, </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                       <span class="keywordtype">float</span> radius);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">static</span> <span class="keyword">inline</span> Eigen::Vector3f</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a2e3b75077a96415e431b90f53a249773">getEigenVector3f</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      PCL_EXPORTS <span class="keyword">static</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#af5c0908bfbe060fdb517728fe56b2c55">  104</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#af5c0908bfbe060fdb517728fe56b2c55">getCoordinateFrameTransformation</a> (RangeImage::CoordinateFrame coordinate_frame,</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;                                        Eigen::Affine3f&amp; transformation);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>CloudTypeWithViewpo<span class="keywordtype">int</span>s&gt; <span class="keyword">static</span> Eigen::Vector3f</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a49c425d518d92def18300cd029ae1855">getAverageViewPoint</a> (<span class="keyword">const</span> PointCloudTypeWithViewpoints&amp; point_cloud);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      PCL_EXPORTS <span class="keyword">static</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a75e39ee2587a56fbdda651c27cc7898e">  120</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a75e39ee2587a56fbdda651c27cc7898e">extractFarRanges</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a>&amp; point_cloud_data, <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointWithViewpoint&gt;</a>&amp; far_ranges);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="comment">// =====METHODS=====</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="comment"></span>      <span class="keyword">inline</span> Ptr </div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a7f898747aa6a52e484d65babc2600a23">  125</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a7f898747aa6a52e484d65babc2600a23">makeShared</a> () { <span class="keywordflow">return</span> Ptr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a> (*<span class="keyword">this</span>)); } </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      PCL_EXPORTS <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#acd539d95dd7bbbd1d67db12e9be275b0">  129</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#acd539d95dd7bbbd1d67db12e9be275b0">reset</a> ();</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>CloudType&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a82f6a143de2d73a0ad9fea6c527a2efb">createFromPointCloud</a> (<span class="keyword">const</span> PointCloudType&amp; point_cloud, <span class="keywordtype">float</span> angular_resolution=<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (0.5f),</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;          <span class="keywordtype">float</span> max_angle_width=<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (360.0f), <span class="keywordtype">float</span> max_angle_height=<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (180.0f),</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;          <span class="keyword">const</span> Eigen::Affine3f&amp; sensor_pose = Eigen::Affine3f::Identity (),</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;          CoordinateFrame coordinate_frame=CAMERA_FRAME, <span class="keywordtype">float</span> noise_level=0.0f,</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;          <span class="keywordtype">float</span> min_range=0.0f, <span class="keywordtype">int</span> border_size=0);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>CloudType&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a82f6a143de2d73a0ad9fea6c527a2efb">createFromPointCloud</a> (<span class="keyword">const</span> PointCloudType&amp; point_cloud,</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;          <span class="keywordtype">float</span> angular_resolution_x=<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (0.5f), <span class="keywordtype">float</span> angular_resolution_y=<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (0.5f),</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;          <span class="keywordtype">float</span> max_angle_width=<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (360.0f), <span class="keywordtype">float</span> max_angle_height=<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (180.0f),</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;          <span class="keyword">const</span> Eigen::Affine3f&amp; sensor_pose = Eigen::Affine3f::Identity (),</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;          CoordinateFrame coordinate_frame=CAMERA_FRAME,</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;          <span class="keywordtype">float</span> noise_level=0.0f, <span class="keywordtype">float</span> min_range=0.0f, <span class="keywordtype">int</span> border_size=0);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>CloudType&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#afbb553405d9b1df2b10b08c98c052250">createFromPointCloudWithKnownSize</a> (<span class="keyword">const</span> PointCloudType&amp; point_cloud, <span class="keywordtype">float</span> angular_resolution,</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;                                         <span class="keyword">const</span> Eigen::Vector3f&amp; point_cloud_center, <span class="keywordtype">float</span> point_cloud_radius,</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;                                         <span class="keyword">const</span> Eigen::Affine3f&amp; sensor_pose = Eigen::Affine3f::Identity (),</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;                                         CoordinateFrame coordinate_frame=CAMERA_FRAME,</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;                                         <span class="keywordtype">float</span> noise_level=0.0f, <span class="keywordtype">float</span> min_range=0.0f, <span class="keywordtype">int</span> border_size=0);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>CloudType&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#afbb553405d9b1df2b10b08c98c052250">createFromPointCloudWithKnownSize</a> (<span class="keyword">const</span> PointCloudType&amp; point_cloud,</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;                                         <span class="keywordtype">float</span> angular_resolution_x, <span class="keywordtype">float</span> angular_resolution_y,</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;                                         <span class="keyword">const</span> Eigen::Vector3f&amp; point_cloud_center, <span class="keywordtype">float</span> point_cloud_radius,</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;                                         <span class="keyword">const</span> Eigen::Affine3f&amp; sensor_pose = Eigen::Affine3f::Identity (),</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;                                         CoordinateFrame coordinate_frame=CAMERA_FRAME,</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;                                         <span class="keywordtype">float</span> noise_level=0.0f, <span class="keywordtype">float</span> min_range=0.0f, <span class="keywordtype">int</span> border_size=0);</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>CloudTypeWithViewpo<span class="keywordtype">int</span>s&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a91cb7406e0e57923a7f5d533ea578c0f">createFromPointCloudWithViewpoints</a> (<span class="keyword">const</span> PointCloudTypeWithViewpoints&amp; point_cloud, <span class="keywordtype">float</span> angular_resolution,</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;                                          <span class="keywordtype">float</span> max_angle_width, <span class="keywordtype">float</span> max_angle_height,</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;                                          CoordinateFrame coordinate_frame=CAMERA_FRAME, <span class="keywordtype">float</span> noise_level=0.0f,</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;                                          <span class="keywordtype">float</span> min_range=0.0f, <span class="keywordtype">int</span> border_size=0);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>CloudTypeWithViewpo<span class="keywordtype">int</span>s&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a91cb7406e0e57923a7f5d533ea578c0f">createFromPointCloudWithViewpoints</a> (<span class="keyword">const</span> PointCloudTypeWithViewpoints&amp; point_cloud,</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;                                          <span class="keywordtype">float</span> angular_resolution_x, <span class="keywordtype">float</span> angular_resolution_y,</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;                                          <span class="keywordtype">float</span> max_angle_width, <span class="keywordtype">float</span> max_angle_height,</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;                                          CoordinateFrame coordinate_frame=CAMERA_FRAME, <span class="keywordtype">float</span> noise_level=0.0f,</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;                                          <span class="keywordtype">float</span> min_range=0.0f, <span class="keywordtype">int</span> border_size=0);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00279"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a46cb318d3d6f1cf6aace8d2ed10ed7fa">  279</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a46cb318d3d6f1cf6aace8d2ed10ed7fa">createEmpty</a> (<span class="keywordtype">float</span> angular_resolution, <span class="keyword">const</span> Eigen::Affine3f&amp; sensor_pose=Eigen::Affine3f::Identity (),</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;                   RangeImage::CoordinateFrame coordinate_frame=CAMERA_FRAME, <span class="keywordtype">float</span> angle_width=<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (360.0f),</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;                   <span class="keywordtype">float</span> angle_height=<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (180.0f));     </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00294"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#afa9ecf76f97e99ede5b71bb7da6c1715">  294</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#afa9ecf76f97e99ede5b71bb7da6c1715">createEmpty</a> (<span class="keywordtype">float</span> angular_resolution_x, <span class="keywordtype">float</span> angular_resolution_y,</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;                   <span class="keyword">const</span> Eigen::Affine3f&amp; sensor_pose=Eigen::Affine3f::Identity (),</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;                   RangeImage::CoordinateFrame coordinate_frame=CAMERA_FRAME, <span class="keywordtype">float</span> angle_width=<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (360.0f),</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;                   <span class="keywordtype">float</span> angle_height=<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (180.0f));</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      </div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>CloudType&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a56655a55b4c83c7ce301ca0f020759b4">doZBuffer</a> (<span class="keyword">const</span> PointCloudType&amp; point_cloud, <span class="keywordtype">float</span> noise_level,</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;                 <span class="keywordtype">float</span> min_range, <span class="keywordtype">int</span>&amp; top, <span class="keywordtype">int</span>&amp; right, <span class="keywordtype">int</span>&amp; bottom, <span class="keywordtype">int</span>&amp; left);</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>CloudType&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a6c3ceb66679ccc84587eef5c29a16386">integrateFarRanges</a> (<span class="keyword">const</span> PointCloudType&amp; far_ranges);</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      </div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      PCL_EXPORTS <span class="keywordtype">void</span></div>
<div class="line"><a name="l00327"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a20f223d93080e9ce32122f90a265f7c4">  327</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a20f223d93080e9ce32122f90a265f7c4">cropImage</a> (<span class="keywordtype">int</span> border_size=0, <span class="keywordtype">int</span> top=-1, <span class="keywordtype">int</span> right=-1, <span class="keywordtype">int</span> bottom=-1, <span class="keywordtype">int</span> left=-1);</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      PCL_EXPORTS <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00334"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#ab124a58f66b1d9a5d0f433c8474ef2b4">  334</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#ab124a58f66b1d9a5d0f433c8474ef2b4">getRangesArray</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      </div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> Eigen::Affine3f&amp;</div>
<div class="line"><a name="l00339"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#ac503c8e060a6f6b1cae1c1fa87fa6e33">  339</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#ac503c8e060a6f6b1cae1c1fa87fa6e33">getTransformationToRangeImageSystem</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_range_image.html#ada8177479f0e95999a66294db4c0c3eb">to_range_image_system_</a>); }</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#ab0419b66dd9e76fbc6d568049abfad3c">setTransformationToRangeImageSystem</a> (<span class="keyword">const</span> Eigen::Affine3f&amp; to_range_image_system);</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;      </div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> Eigen::Affine3f&amp;</div>
<div class="line"><a name="l00349"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#afdff6ffbb3bfec294637225b5fb82956">  349</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#afdff6ffbb3bfec294637225b5fb82956">getTransformationToWorldSystem</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a>;}</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00354"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a6fc3548b0b33e90cead2c1ecfce14c34">  354</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a6fc3548b0b33e90cead2c1ecfce14c34">getAngularResolution</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_range_image.html#abdbfb655cdfeb5d8ace1ac841a52a524">angular_resolution_x_</a>;}</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;      </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00358"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a6522dbfac4997c15bd24b0b9b3e9d4dd">  358</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a6522dbfac4997c15bd24b0b9b3e9d4dd">getAngularResolutionX</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_range_image.html#abdbfb655cdfeb5d8ace1ac841a52a524">angular_resolution_x_</a>;}</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;      </div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00362"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#af4891c9812652efe513b9ff060490364">  362</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#af4891c9812652efe513b9ff060490364">getAngularResolutionY</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_range_image.html#a9471a00ecde65c754227e155cc234942">angular_resolution_y_</a>;}</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;      </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a6fc3548b0b33e90cead2c1ecfce14c34">getAngularResolution</a> (<span class="keywordtype">float</span>&amp; angular_resolution_x, <span class="keywordtype">float</span>&amp; angular_resolution_y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;      </div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a2720450161caef9a2992b0ac943ab2b7">setAngularResolution</a> (<span class="keywordtype">float</span> angular_resolution);</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;      </div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a2720450161caef9a2992b0ac943ab2b7">setAngularResolution</a> (<span class="keywordtype">float</span> angular_resolution_x, <span class="keywordtype">float</span> angular_resolution_y);</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160; </div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;      </div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (<span class="keywordtype">int</span> image_x, <span class="keywordtype">int</span> image_y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160; </div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;      <span class="keyword">inline</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp;</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (<span class="keywordtype">int</span> image_x, <span class="keywordtype">int</span> image_y);</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;      </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (<span class="keywordtype">float</span> image_x, <span class="keywordtype">float</span> image_y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;      </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      <span class="keyword">inline</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (<span class="keywordtype">float</span> image_x, <span class="keywordtype">float</span> image_y);</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;      </div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a587663a5b4123f4c423c9e38a9b36d41">getPointNoCheck</a> (<span class="keywordtype">int</span> image_x, <span class="keywordtype">int</span> image_y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160; </div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      <span class="keyword">inline</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp;</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a587663a5b4123f4c423c9e38a9b36d41">getPointNoCheck</a> (<span class="keywordtype">int</span> image_x, <span class="keywordtype">int</span> image_y);</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160; </div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (<span class="keywordtype">int</span> image_x, <span class="keywordtype">int</span> image_y, Eigen::Vector3f&amp; point) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;      </div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (<span class="keywordtype">int</span> index, Eigen::Vector3f&amp; point) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      </div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> Eigen::Map&lt;const Eigen::Vector3f&gt;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a2e3b75077a96415e431b90f53a249773">getEigenVector3f</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> Eigen::Map&lt;const Eigen::Vector3f&gt;</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a2e3b75077a96415e431b90f53a249773">getEigenVector3f</a> (<span class="keywordtype">int</span> index) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;      </div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp;</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (<span class="keywordtype">int</span> index) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160; </div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">calculate3DPoint</a> (<span class="keywordtype">float</span> image_x, <span class="keywordtype">float</span> image_y, <span class="keywordtype">float</span> range, <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">calculate3DPoint</a> (<span class="keywordtype">float</span> image_x, <span class="keywordtype">float</span> image_y, <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160; </div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;      <span class="keyword">virtual</span> <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">calculate3DPoint</a> (<span class="keywordtype">float</span> image_x, <span class="keywordtype">float</span> image_y, <span class="keywordtype">float</span> range, Eigen::Vector3f&amp; point) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">calculate3DPoint</a> (<span class="keywordtype">float</span> image_x, <span class="keywordtype">float</span> image_y, Eigen::Vector3f&amp; point) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;      </div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;      PCL_EXPORTS <span class="keywordtype">void</span></div>
<div class="line"><a name="l00451"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a08d6ccfef80c3788102327df618a3fbf">  451</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a08d6ccfef80c3788102327df618a3fbf">recalculate3DPointPositions</a> ();</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;      </div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;      <span class="keyword">inline</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point, <span class="keywordtype">float</span>&amp; image_x, <span class="keywordtype">float</span>&amp; image_y, <span class="keywordtype">float</span>&amp; range) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160; </div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point, <span class="keywordtype">int</span>&amp; image_x, <span class="keywordtype">int</span>&amp; image_y, <span class="keywordtype">float</span>&amp; range) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;      </div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point, <span class="keywordtype">float</span>&amp; image_x, <span class="keywordtype">float</span>&amp; image_y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;      </div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point, <span class="keywordtype">int</span>&amp; image_x, <span class="keywordtype">int</span>&amp; image_y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;      </div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z, <span class="keywordtype">float</span>&amp; image_x, <span class="keywordtype">float</span>&amp; image_y, <span class="keywordtype">float</span>&amp; range) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;      </div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z, <span class="keywordtype">float</span>&amp; image_x, <span class="keywordtype">float</span>&amp; image_y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;      </div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z, <span class="keywordtype">int</span>&amp; image_x, <span class="keywordtype">int</span>&amp; image_y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;      </div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a3e63aa0e7dc143f4a4a15611edcede70">checkPoint</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point, <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point_in_image) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160; </div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#aea43fc18a9695437879d4b3b3860a9ae">getRangeDifference</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;      </div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#adfd931443541e194f1c53d5f7b1c43e6">getImagePointFromAngles</a> (<span class="keywordtype">float</span> angle_x, <span class="keywordtype">float</span> angle_y, <span class="keywordtype">float</span>&amp; image_x, <span class="keywordtype">float</span>&amp; image_y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;      </div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a2388ab60ff312e9034df5e67f899ea97">getAnglesFromImagePoint</a> (<span class="keywordtype">float</span> image_x, <span class="keywordtype">float</span> image_y, <span class="keywordtype">float</span>&amp; angle_x, <span class="keywordtype">float</span>&amp; angle_y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;      </div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a86174b766aa77898e0d49ef11f4613b1">real2DToInt2D</a> (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">int</span>&amp; xInt, <span class="keywordtype">int</span>&amp; yInt) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;      </div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;      </div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a2372989721c3c119bb5d4b5ebd9b59c3">isValid</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;      </div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a2372989721c3c119bb5d4b5ebd9b59c3">isValid</a> (<span class="keywordtype">int</span> index) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;      </div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a75e51885e151759d815ec1b1b72ea4ff">isObserved</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160; </div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a771ab2f1ee2952a319da20301b27ab3b">isMaxRange</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;      </div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#aeb21e9a192704802adabd6693f00e397">getNormal</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> radius, Eigen::Vector3f&amp; normal, <span class="keywordtype">int</span> step_size=1) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;      </div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#accb0781e43e55cff62851019ffac47ce">getNormalForClosestNeighbors</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> radius, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point,</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;                                    <span class="keywordtype">int</span> no_of_nearest_neighbors, Eigen::Vector3f&amp; normal, <span class="keywordtype">int</span> step_size=1) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;      </div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#accb0781e43e55cff62851019ffac47ce">getNormalForClosestNeighbors</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> radius, <span class="keyword">const</span> Eigen::Vector3f&amp; point,</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;                                    <span class="keywordtype">int</span> no_of_nearest_neighbors, Eigen::Vector3f&amp; normal,</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;                                    Eigen::Vector3f* point_on_plane=NULL, <span class="keywordtype">int</span> step_size=1) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;      </div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#accb0781e43e55cff62851019ffac47ce">getNormalForClosestNeighbors</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, Eigen::Vector3f&amp; normal, <span class="keywordtype">int</span> radius=2) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;      </div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#abf1ce91a6aae13aefb5d3026273eb108">getSurfaceInformation</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> radius, <span class="keyword">const</span> Eigen::Vector3f&amp; point,</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;                             <span class="keywordtype">int</span> no_of_closest_neighbors, <span class="keywordtype">int</span> step_size,</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;                             <span class="keywordtype">float</span>&amp; max_closest_neighbor_distance_squared,</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;                             Eigen::Vector3f&amp; normal, Eigen::Vector3f&amp; mean, Eigen::Vector3f&amp; eigen_values,</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;                             Eigen::Vector3f* normal_all_neighbors=NULL,</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;                             Eigen::Vector3f* mean_all_neighbors=NULL,</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;                             Eigen::Vector3f* eigen_values_all_neighbors=NULL) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;      </div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;      <span class="comment">// Return the squared distance to the n-th neighbors of the point at x,y</span></div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;      getSquaredDistanceOfNthNeighbor (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> radius, <span class="keywordtype">int</span> n, <span class="keywordtype">int</span> step_size) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;      </div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a6b87fa04fd32ec986f1af9149bd46841">getImpactAngle</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point2) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a6b87fa04fd32ec986f1af9149bd46841">getImpactAngle</a> (<span class="keywordtype">int</span> x1, <span class="keywordtype">int</span> y1, <span class="keywordtype">int</span> x2, <span class="keywordtype">int</span> y2) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;      </div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a1ca716a0e6b2aba846bdb4079275f6d9">getImpactAngleBasedOnLocalNormal</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> radius) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;      PCL_EXPORTS <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00574"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#aecd52c29445543d03e40f0d75c8120c0">  574</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#aecd52c29445543d03e40f0d75c8120c0">getImpactAngleImageBasedOnLocalNormals</a> (<span class="keywordtype">int</span> radius) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160; </div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a5b6d4bb74fa5134a6c21823dfdcdb13e">getNormalBasedAcutenessValue</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> radius) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;      </div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a2290765b8ccd5608ffa4967dc282395a">getAcutenessValue</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point2) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a2290765b8ccd5608ffa4967dc282395a">getAcutenessValue</a> (<span class="keywordtype">int</span> x1, <span class="keywordtype">int</span> y1, <span class="keywordtype">int</span> x2, <span class="keywordtype">int</span> y2) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;      </div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;      PCL_EXPORTS <span class="keywordtype">void</span></div>
<div class="line"><a name="l00592"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a56821ed68e8701450b4725ed9c6fd7a0">  592</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a56821ed68e8701450b4725ed9c6fd7a0">getAcutenessValueImages</a> (<span class="keywordtype">int</span> pixel_distance, <span class="keywordtype">float</span>*&amp; acuteness_value_image_x,</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;                               <span class="keywordtype">float</span>*&amp; acuteness_value_image_y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;      </div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;      <span class="comment">//inline float</span></div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;      <span class="comment">//  getSurfaceChange (const PointWithRange&amp; point, const PointWithRange&amp; neighbor1,</span></div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;      <span class="comment">//                   const PointWithRange&amp; neighbor2) const;</span></div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;      </div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;      PCL_EXPORTS <span class="keywordtype">float</span></div>
<div class="line"><a name="l00603"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a16b744103dab2ba2a9ada137aa75887f">  603</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a16b744103dab2ba2a9ada137aa75887f">getSurfaceChange</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> radius) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;      </div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;      PCL_EXPORTS <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00607"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a23b27f51c94a493a2c98c96a6acf3f11">  607</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a23b27f51c94a493a2c98c96a6acf3f11">getSurfaceChangeImage</a> (<span class="keywordtype">int</span> radius) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;      </div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#afd94afe865f6cd46cfbc64f45bb1d03e">getSurfaceAngleChange</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> radius, <span class="keywordtype">float</span>&amp; angle_change_x, <span class="keywordtype">float</span>&amp; angle_change_y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;      </div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;      PCL_EXPORTS <span class="keywordtype">void</span></div>
<div class="line"><a name="l00616"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a0501e4697fe05327423b4e247baa3528">  616</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a0501e4697fe05327423b4e247baa3528">getSurfaceAngleChangeImages</a> (<span class="keywordtype">int</span> radius, <span class="keywordtype">float</span>*&amp; angle_change_image_x, <span class="keywordtype">float</span>*&amp; angle_change_image_y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;      </div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#ac6a22e10be8bfcedf9297d1e1badef1c">getCurvature</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> radius, <span class="keywordtype">int</span> step_size) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;      </div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> Eigen::Vector3f</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a942d6b253c5df68008614af6dfed323a">getSensorPos</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;      </div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;      PCL_EXPORTS <span class="keywordtype">void</span></div>
<div class="line"><a name="l00628"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#ad4f7d854c4f15ab0ab2193cc726c353f">  628</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#ad4f7d854c4f15ab0ab2193cc726c353f">setUnseenToMaxRange</a> ();</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;      </div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00632"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a25e2db660717d67a19f5cdb39937c00a">  632</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a25e2db660717d67a19f5cdb39937c00a">getImageOffsetX</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> image_offset_x_;}</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00635"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a42c06aa5693077ab6db7ec5c691dc677">  635</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a42c06aa5693077ab6db7ec5c691dc677">getImageOffsetY</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_range_image.html#a1518af9f1c9eb6ac259be92824842e23">image_offset_y_</a>;}</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;      </div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00639"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a962a922e6a1170b1494ee21859087b4e">  639</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a962a922e6a1170b1494ee21859087b4e">setImageOffsets</a> (<span class="keywordtype">int</span> offset_x, <span class="keywordtype">int</span> offset_y) { image_offset_x_=offset_x; <a class="code" href="classpcl_1_1_range_image.html#a1518af9f1c9eb6ac259be92824842e23">image_offset_y_</a>=offset_y;}</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160; </div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160; </div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;      </div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00657"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a33f4985713cf3f17ac8f8c69c0201729">  657</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a33f4985713cf3f17ac8f8c69c0201729">getSubImage</a> (<span class="keywordtype">int</span> sub_image_image_offset_x, <span class="keywordtype">int</span> sub_image_image_offset_y, <span class="keywordtype">int</span> sub_image_width,</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;                   <span class="keywordtype">int</span> sub_image_height, <span class="keywordtype">int</span> combine_pixels, <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp; sub_image) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;      </div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00662"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#ab39a4eac61ba75bb9f2913a1ff3ec84d">  662</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#ab39a4eac61ba75bb9f2913a1ff3ec84d">getHalfImage</a> (<a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp; half_image) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;      </div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;      PCL_EXPORTS <span class="keywordtype">void</span></div>
<div class="line"><a name="l00666"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a83b475eb983cd9edaea5d97c6d098a7c">  666</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a83b475eb983cd9edaea5d97c6d098a7c">getMinMaxRanges</a> (<span class="keywordtype">float</span>&amp; min_range, <span class="keywordtype">float</span>&amp; max_range) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;      </div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;      PCL_EXPORTS <span class="keywordtype">void</span></div>
<div class="line"><a name="l00670"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a37582520baf6b317bbb81e85c95cc602">  670</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a37582520baf6b317bbb81e85c95cc602">change3dPointsToLocalCoordinateFrame</a> ();</div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;      </div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;      PCL_EXPORTS <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00677"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a225cab091b80ff23a3c7b0d7291dead2">  677</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a225cab091b80ff23a3c7b0d7291dead2">getInterpolatedSurfaceProjection</a> (<span class="keyword">const</span> Eigen::Affine3f&amp; pose, <span class="keywordtype">int</span> pixel_size, <span class="keywordtype">float</span> world_size) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;      </div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;      PCL_EXPORTS <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00681"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#accadf69890d534cfcb0f9d65c60feaac">  681</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#accadf69890d534cfcb0f9d65c60feaac">getInterpolatedSurfaceProjection</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point, <span class="keywordtype">int</span> pixel_size, <span class="keywordtype">float</span> world_size) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;      </div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;      <span class="keyword">inline</span> Eigen::Affine3f</div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a6646c58459dc6780f114039d296d88d4">getTransformationToViewerCoordinateFrame</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a6646c58459dc6780f114039d296d88d4">getTransformationToViewerCoordinateFrame</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point,</div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;                                                Eigen::Affine3f&amp; transformation) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#ab38c579faf678914119d4190b0068ab6">getRotationToViewerCoordinateFrame</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point, Eigen::Affine3f&amp; transformation) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160; </div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;      PCL_EXPORTS <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00696"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a0ee070d08d3e3688e24f8ebffc9b6436">  696</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a0ee070d08d3e3688e24f8ebffc9b6436">getNormalBasedUprightTransformation</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point,</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;                                           <span class="keywordtype">float</span> max_dist, Eigen::Affine3f&amp; transformation) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;      </div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;      PCL_EXPORTS <span class="keywordtype">void</span></div>
<div class="line"><a name="l00702"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a03e02f341db8f43860b2cb83824a2123">  702</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a03e02f341db8f43860b2cb83824a2123">getIntegralImage</a> (<span class="keywordtype">float</span>*&amp; integral_image, <span class="keywordtype">int</span>*&amp; valid_points_num_image) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;      </div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;      PCL_EXPORTS <span class="keywordtype">void</span>     <span class="comment">// Template necessary so that this function also works in derived classes</span></div>
<div class="line"><a name="l00706"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a1037c5597389ad0f981c91f820b392a9">  706</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a1037c5597389ad0f981c91f820b392a9">getBlurredImageUsingIntegralImage</a> (<span class="keywordtype">int</span> blur_radius, <span class="keywordtype">float</span>* integral_image, <span class="keywordtype">int</span>* valid_points_num_image,</div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;                                         <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp; range_image) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;      </div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;      PCL_EXPORTS <span class="keyword">virtual</span> <span class="keywordtype">void</span>     <span class="comment">// Template necessary so that this function also works in derived classes</span></div>
<div class="line"><a name="l00711"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a29b238256cffb27a526bf89e857e5602">  711</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a29b238256cffb27a526bf89e857e5602">getBlurredImage</a> (<span class="keywordtype">int</span> blur_radius, <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp; range_image) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;      </div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a9270139a4ebc5b01e91262bba72c1cf5">getEuclideanDistanceSquared</a> (<span class="keywordtype">int</span> x1, <span class="keywordtype">int</span> y1, <span class="keywordtype">int</span> x2, <span class="keywordtype">int</span> y2) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a4d702bb8f446bb382040e5872b6dbfb1">getAverageEuclideanDistance</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> offset_x, <span class="keywordtype">int</span> offset_y, <span class="keywordtype">int</span> max_steps) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;      </div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;      PCL_EXPORTS <span class="keywordtype">void</span></div>
<div class="line"><a name="l00723"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a42e94ffae804608d0a7d2762cddd6fd2">  723</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a42e94ffae804608d0a7d2762cddd6fd2">getRangeImageWithSmoothedSurface</a> (<span class="keywordtype">int</span> radius, <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp; smoothed_range_image) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;      <span class="comment">//void getLocalNormals (int radius) const;</span></div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;      </div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a397d6c6b38906e98ab89b817c4191247">get1dPointAverage</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> delta_x, <span class="keywordtype">int</span> delta_y, <span class="keywordtype">int</span> no_of_points,</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;                         <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; average_point) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;      </div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;      PCL_EXPORTS <span class="keywordtype">float</span></div>
<div class="line"><a name="l00737"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#addd0bcec3d51c70ac205bbfc75dd8c18">  737</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#addd0bcec3d51c70ac205bbfc75dd8c18">getOverlap</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp; other_range_image, <span class="keyword">const</span> Eigen::Affine3f&amp; relative_transformation,</div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;                  <span class="keywordtype">int</span> search_radius, <span class="keywordtype">float</span> max_distance, <span class="keywordtype">int</span> pixel_step=1) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;      </div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#ad37bc4a8aab3d63ee7c9ef9428239f00">getViewingDirection</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, Eigen::Vector3f&amp; viewing_direction) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;      </div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#ad37bc4a8aab3d63ee7c9ef9428239f00">getViewingDirection</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point, Eigen::Vector3f&amp; viewing_direction) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;      </div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;      PCL_EXPORTS <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>* </div>
<div class="line"><a name="l00751"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a7bca09c1eb8be12975c47cb6d6233ca5">  751</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a7bca09c1eb8be12975c47cb6d6233ca5">getNew</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classpcl_1_1_range_image.html#af18b2d3410fb7799ad4de375b51df035">RangeImage</a>; }</div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160; </div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;      PCL_EXPORTS <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00755"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a454c9018fc001c85e9d8df6900ceb0f6">  755</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a454c9018fc001c85e9d8df6900ceb0f6">copyTo</a> (<a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp; other) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160; </div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;      </div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;      <span class="comment">// =====MEMBER VARIABLES=====</span></div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;      <span class="comment">// BaseClass:</span></div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;      <span class="comment">//   roslib::Header header;</span></div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;      <span class="comment">//   std::vector&lt;PointT&gt; points;</span></div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;      <span class="comment">//   uint32_t width;</span></div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;      <span class="comment">//   uint32_t height;</span></div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;      <span class="comment">//   bool is_dense;</span></div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160; </div>
<div class="line"><a name="l00766"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a1bd552e2971d69843fdec72413823f57">  766</a></span>&#160;      <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_range_image.html#a1bd552e2971d69843fdec72413823f57">debug</a>; </div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;      <span class="comment">// =====PROTECTED MEMBER VARIABLES=====</span></div>
<div class="line"><a name="l00770"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#ada8177479f0e95999a66294db4c0c3eb">  770</a></span>&#160;      Eigen::Affine3f <a class="code" href="classpcl_1_1_range_image.html#ada8177479f0e95999a66294db4c0c3eb">to_range_image_system_</a>;  </div>
<div class="line"><a name="l00771"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">  771</a></span>&#160;      Eigen::Affine3f <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a>;        </div>
<div class="line"><a name="l00772"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#abdbfb655cdfeb5d8ace1ac841a52a524">  772</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_range_image.html#abdbfb655cdfeb5d8ace1ac841a52a524">angular_resolution_x_</a>;             </div>
<div class="line"><a name="l00773"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a9471a00ecde65c754227e155cc234942">  773</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_range_image.html#a9471a00ecde65c754227e155cc234942">angular_resolution_y_</a>;             </div>
<div class="line"><a name="l00774"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#adbb1466576e6c2d08e3065b67da0b250">  774</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_range_image.html#adbb1466576e6c2d08e3065b67da0b250">angular_resolution_x_reciprocal_</a>;  </div>
<div class="line"><a name="l00776"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a843659230146a43690ee4d4fb53fcc92">  776</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_range_image.html#a843659230146a43690ee4d4fb53fcc92">angular_resolution_y_reciprocal_</a>;  </div>
<div class="line"><a name="l00778"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a1518af9f1c9eb6ac259be92824842e23">  778</a></span>&#160;      <span class="keywordtype">int</span> image_offset_x_, <a class="code" href="classpcl_1_1_range_image.html#a1518af9f1c9eb6ac259be92824842e23">image_offset_y_</a>;    </div>
<div class="line"><a name="l00780"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#a51bf019906a3256038561354d6b95885">  780</a></span>&#160;      <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a> <a class="code" href="classpcl_1_1_range_image.html#a51bf019906a3256038561354d6b95885">unobserved_point</a>;         </div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;      <span class="comment">// =====PROTECTED METHODS=====</span></div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160; </div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160; </div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;      <span class="comment">// =====STATIC PROTECTED=====</span></div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;      <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> lookup_table_size;</div>
<div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;      <span class="keyword">static</span> std::vector&lt;float&gt; asin_lookup_table;</div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;      <span class="keyword">static</span> std::vector&lt;float&gt; atan_lookup_table;</div>
<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;      <span class="keyword">static</span> std::vector&lt;float&gt; cos_lookup_table;</div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00793"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image.html#ae74c34594e1417fb702d92ff51f2b495">  793</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#ae74c34594e1417fb702d92ff51f2b495">createLookupTables</a> ();</div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160; </div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;      <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a6cb20514cdc04674448a5e5c6cb373bc">asinLookUp</a> (<span class="keywordtype">float</span> value);</div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;      </div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;      <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a17835570c515cca3ba1ecd0f132bf013">atan2LookUp</a> (<span class="keywordtype">float</span> y, <span class="keywordtype">float</span> x);</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;     </div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;      <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;      <a class="code" href="classpcl_1_1_range_image.html#a29ab1f1088b1c8d111dfe02139882ded">cosLookUp</a> (<span class="keywordtype">float</span> value);</div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160; </div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160; </div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;  };</div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160; </div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;  <span class="keyword">inline</span> std::ostream&amp;</div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;  operator&lt;&lt; (std::ostream&amp; os, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp; r)</div>
<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;  {</div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;    os &lt;&lt; <span class="stringliteral">&quot;header: &quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;    os &lt;&lt; r.header;</div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;    os &lt;&lt; <span class="stringliteral">&quot;points[]: &quot;</span> &lt;&lt; r.points.size () &lt;&lt; std::endl;</div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;    os &lt;&lt; <span class="stringliteral">&quot;width: &quot;</span> &lt;&lt; r.width &lt;&lt; std::endl;</div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;    os &lt;&lt; <span class="stringliteral">&quot;height: &quot;</span> &lt;&lt; r.height &lt;&lt; std::endl;</div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;    os &lt;&lt; <span class="stringliteral">&quot;sensor_origin_: &quot;</span></div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;       &lt;&lt; r.sensor_origin_[0] &lt;&lt; <span class="charliteral">&#39; &#39;</span></div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;       &lt;&lt; r.sensor_origin_[1] &lt;&lt; <span class="charliteral">&#39; &#39;</span></div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;       &lt;&lt; r.sensor_origin_[2] &lt;&lt; std::endl;</div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;    os &lt;&lt; <span class="stringliteral">&quot;sensor_orientation_: &quot;</span></div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;       &lt;&lt; r.sensor_orientation_.x () &lt;&lt; <span class="charliteral">&#39; &#39;</span></div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;       &lt;&lt; r.sensor_orientation_.y () &lt;&lt; <span class="charliteral">&#39; &#39;</span></div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;       &lt;&lt; r.sensor_orientation_.z () &lt;&lt; <span class="charliteral">&#39; &#39;</span></div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;       &lt;&lt; r.sensor_orientation_.w () &lt;&lt; std::endl;</div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;    os &lt;&lt; <span class="stringliteral">&quot;is_dense: &quot;</span> &lt;&lt; r.is_dense &lt;&lt; std::endl;</div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;    os &lt;&lt; <span class="stringliteral">&quot;angular resolution: &quot;</span></div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;       &lt;&lt; RAD2DEG (r.getAngularResolutionX ()) &lt;&lt; <span class="stringliteral">&quot;deg/pixel in x and &quot;</span></div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;       &lt;&lt; RAD2DEG (r.getAngularResolutionY ()) &lt;&lt; <span class="stringliteral">&quot;deg/pixel in y.\n&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;    <span class="keywordflow">return</span> (os);</div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;  }</div>
<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160; </div>
<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160;}  <span class="comment">// namespace end</span></div>
<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160; </div>
<div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160; </div>
<div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160;<span class="preprocessor">#include &lt;pcl/range_image/impl/range_image.hpp&gt;</span>  <span class="comment">// Definitions of templated and inline functions</span></div>
<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160; </div>
<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_RANGE_IMAGE_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html"><div class="ttname"><a href="classpcl_1_1_range_image.html">pcl::RangeImage</a></div><div class="ttdoc">RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...</div><div class="ttdef"><b>Definition:</b> range_image.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a03e02f341db8f43860b2cb83824a2123"><div class="ttname"><a href="classpcl_1_1_range_image.html#a03e02f341db8f43860b2cb83824a2123">pcl::RangeImage::getIntegralImage</a></div><div class="ttdeci">PCL_EXPORTS void getIntegralImage(float *&amp;integral_image, int *&amp;valid_points_num_image) const</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a0501e4697fe05327423b4e247baa3528"><div class="ttname"><a href="classpcl_1_1_range_image.html#a0501e4697fe05327423b4e247baa3528">pcl::RangeImage::getSurfaceAngleChangeImages</a></div><div class="ttdeci">PCL_EXPORTS void getSurfaceAngleChangeImages(int radius, float *&amp;angle_change_image_x, float *&amp;angle_change_image_y) const</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a08d6ccfef80c3788102327df618a3fbf"><div class="ttname"><a href="classpcl_1_1_range_image.html#a08d6ccfef80c3788102327df618a3fbf">pcl::RangeImage::recalculate3DPointPositions</a></div><div class="ttdeci">PCL_EXPORTS void recalculate3DPointPositions()</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a0ee070d08d3e3688e24f8ebffc9b6436"><div class="ttname"><a href="classpcl_1_1_range_image.html#a0ee070d08d3e3688e24f8ebffc9b6436">pcl::RangeImage::getNormalBasedUprightTransformation</a></div><div class="ttdeci">PCL_EXPORTS bool getNormalBasedUprightTransformation(const Eigen::Vector3f &amp;point, float max_dist, Eigen::Affine3f &amp;transformation) const</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a1037c5597389ad0f981c91f820b392a9"><div class="ttname"><a href="classpcl_1_1_range_image.html#a1037c5597389ad0f981c91f820b392a9">pcl::RangeImage::getBlurredImageUsingIntegralImage</a></div><div class="ttdeci">PCL_EXPORTS void getBlurredImageUsingIntegralImage(int blur_radius, float *integral_image, int *valid_points_num_image, RangeImage &amp;range_image) const</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a1518af9f1c9eb6ac259be92824842e23"><div class="ttname"><a href="classpcl_1_1_range_image.html#a1518af9f1c9eb6ac259be92824842e23">pcl::RangeImage::image_offset_y_</a></div><div class="ttdeci">int image_offset_y_</div><div class="ttdef"><b>Definition:</b> range_image.h:778</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a16b744103dab2ba2a9ada137aa75887f"><div class="ttname"><a href="classpcl_1_1_range_image.html#a16b744103dab2ba2a9ada137aa75887f">pcl::RangeImage::getSurfaceChange</a></div><div class="ttdeci">PCL_EXPORTS float getSurfaceChange(int x, int y, int radius) const</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a17835570c515cca3ba1ecd0f132bf013"><div class="ttname"><a href="classpcl_1_1_range_image.html#a17835570c515cca3ba1ecd0f132bf013">pcl::RangeImage::atan2LookUp</a></div><div class="ttdeci">static float atan2LookUp(float y, float x)</div><div class="ttdef"><b>Definition:</b> range_image.hpp:60</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a1acc16b4b5fb7071175bada62a5b75d0"><div class="ttname"><a href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">pcl::RangeImage::calculate3DPoint</a></div><div class="ttdeci">void calculate3DPoint(float image_x, float image_y, float range, PointWithRange &amp;point) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:585</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a1bd552e2971d69843fdec72413823f57"><div class="ttname"><a href="classpcl_1_1_range_image.html#a1bd552e2971d69843fdec72413823f57">pcl::RangeImage::debug</a></div><div class="ttdeci">static bool debug</div><div class="ttdef"><b>Definition:</b> range_image.h:766</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a1ca716a0e6b2aba846bdb4079275f6d9"><div class="ttname"><a href="classpcl_1_1_range_image.html#a1ca716a0e6b2aba846bdb4079275f6d9">pcl::RangeImage::getImpactAngleBasedOnLocalNormal</a></div><div class="ttdeci">float getImpactAngleBasedOnLocalNormal(int x, int y, int radius) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:885</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a20f223d93080e9ce32122f90a265f7c4"><div class="ttname"><a href="classpcl_1_1_range_image.html#a20f223d93080e9ce32122f90a265f7c4">pcl::RangeImage::cropImage</a></div><div class="ttdeci">PCL_EXPORTS void cropImage(int border_size=0, int top=-1, int right=-1, int bottom=-1, int left=-1)</div><div class="ttdoc">Cut the range image to the minimal size so that it still contains all actual range readings.</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a225cab091b80ff23a3c7b0d7291dead2"><div class="ttname"><a href="classpcl_1_1_range_image.html#a225cab091b80ff23a3c7b0d7291dead2">pcl::RangeImage::getInterpolatedSurfaceProjection</a></div><div class="ttdeci">PCL_EXPORTS float * getInterpolatedSurfaceProjection(const Eigen::Affine3f &amp;pose, int pixel_size, float world_size) const</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a2290765b8ccd5608ffa4967dc282395a"><div class="ttname"><a href="classpcl_1_1_range_image.html#a2290765b8ccd5608ffa4967dc282395a">pcl::RangeImage::getAcutenessValue</a></div><div class="ttdeci">float getAcutenessValue(const PointWithRange &amp;point1, const PointWithRange &amp;point2) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:652</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a2372989721c3c119bb5d4b5ebd9b59c3"><div class="ttname"><a href="classpcl_1_1_range_image.html#a2372989721c3c119bb5d4b5ebd9b59c3">pcl::RangeImage::isValid</a></div><div class="ttdeci">bool isValid(int x, int y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:448</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a2388ab60ff312e9034df5e67f899ea97"><div class="ttname"><a href="classpcl_1_1_range_image.html#a2388ab60ff312e9034df5e67f899ea97">pcl::RangeImage::getAnglesFromImagePoint</a></div><div class="ttdeci">void getAnglesFromImagePoint(float image_x, float image_y, float &amp;angle_x, float &amp;angle_y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:602</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a23b27f51c94a493a2c98c96a6acf3f11"><div class="ttname"><a href="classpcl_1_1_range_image.html#a23b27f51c94a493a2c98c96a6acf3f11">pcl::RangeImage::getSurfaceChangeImage</a></div><div class="ttdeci">PCL_EXPORTS float * getSurfaceChangeImage(int radius) const</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a25e2db660717d67a19f5cdb39937c00a"><div class="ttname"><a href="classpcl_1_1_range_image.html#a25e2db660717d67a19f5cdb39937c00a">pcl::RangeImage::getImageOffsetX</a></div><div class="ttdeci">int getImageOffsetX() const</div><div class="ttdoc">Getter for image_offset_x_</div><div class="ttdef"><b>Definition:</b> range_image.h:632</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a2720450161caef9a2992b0ac943ab2b7"><div class="ttname"><a href="classpcl_1_1_range_image.html#a2720450161caef9a2992b0ac943ab2b7">pcl::RangeImage::setAngularResolution</a></div><div class="ttdeci">void setAngularResolution(float angular_resolution)</div><div class="ttdoc">Set the angular resolution of the range image</div><div class="ttdef"><b>Definition:</b> range_image.hpp:1188</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a274fcd95e5f7c8da5f4f5ecf151bad40"><div class="ttname"><a href="classpcl_1_1_range_image.html#a274fcd95e5f7c8da5f4f5ecf151bad40">pcl::RangeImage::~RangeImage</a></div><div class="ttdeci">virtual PCL_EXPORTS ~RangeImage()</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a29ab1f1088b1c8d111dfe02139882ded"><div class="ttname"><a href="classpcl_1_1_range_image.html#a29ab1f1088b1c8d111dfe02139882ded">pcl::RangeImage::cosLookUp</a></div><div class="ttdeci">static float cosLookUp(float value)</div><div class="ttdef"><b>Definition:</b> range_image.hpp:86</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a29b238256cffb27a526bf89e857e5602"><div class="ttname"><a href="classpcl_1_1_range_image.html#a29b238256cffb27a526bf89e857e5602">pcl::RangeImage::getBlurredImage</a></div><div class="ttdeci">virtual PCL_EXPORTS void getBlurredImage(int blur_radius, RangeImage &amp;range_image) const</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a2e3b75077a96415e431b90f53a249773"><div class="ttname"><a href="classpcl_1_1_range_image.html#a2e3b75077a96415e431b90f53a249773">pcl::RangeImage::getEigenVector3f</a></div><div class="ttdeci">static Eigen::Vector3f getEigenVector3f(const PointWithRange &amp;point)</div><div class="ttdoc">Get Eigen::Vector3f from PointWithRange</div><div class="ttdef"><b>Definition:</b> range_image.hpp:795</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a31c36f147403c0f64e1c3a386b30e229"><div class="ttname"><a href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">pcl::RangeImage::to_world_system_</a></div><div class="ttdeci">Eigen::Affine3f to_world_system_</div><div class="ttdef"><b>Definition:</b> range_image.h:771</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a33f4985713cf3f17ac8f8c69c0201729"><div class="ttname"><a href="classpcl_1_1_range_image.html#a33f4985713cf3f17ac8f8c69c0201729">pcl::RangeImage::getSubImage</a></div><div class="ttdeci">virtual void getSubImage(int sub_image_image_offset_x, int sub_image_image_offset_y, int sub_image_width, int sub_image_height, int combine_pixels, RangeImage &amp;sub_image) const</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a34fe4f6701548e2514ae45099309cac4"><div class="ttname"><a href="classpcl_1_1_range_image.html#a34fe4f6701548e2514ae45099309cac4">pcl::RangeImage::max_no_of_threads</a></div><div class="ttdeci">static int max_no_of_threads</div><div class="ttdef"><b>Definition:</b> range_image.h:79</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a37582520baf6b317bbb81e85c95cc602"><div class="ttname"><a href="classpcl_1_1_range_image.html#a37582520baf6b317bbb81e85c95cc602">pcl::RangeImage::change3dPointsToLocalCoordinateFrame</a></div><div class="ttdeci">PCL_EXPORTS void change3dPointsToLocalCoordinateFrame()</div><div class="ttdoc">This function sets the sensor pose to 0 and transforms all point positions to this local coordinate f...</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a397d6c6b38906e98ab89b817c4191247"><div class="ttname"><a href="classpcl_1_1_range_image.html#a397d6c6b38906e98ab89b817c4191247">pcl::RangeImage::get1dPointAverage</a></div><div class="ttdeci">void get1dPointAverage(int x, int y, int delta_x, int delta_y, int no_of_points, PointWithRange &amp;average_point) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:802</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a3e63aa0e7dc143f4a4a15611edcede70"><div class="ttname"><a href="classpcl_1_1_range_image.html#a3e63aa0e7dc143f4a4a15611edcede70">pcl::RangeImage::checkPoint</a></div><div class="ttdeci">float checkPoint(const Eigen::Vector3f &amp;point, PointWithRange &amp;point_in_image) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:391</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a42c06aa5693077ab6db7ec5c691dc677"><div class="ttname"><a href="classpcl_1_1_range_image.html#a42c06aa5693077ab6db7ec5c691dc677">pcl::RangeImage::getImageOffsetY</a></div><div class="ttdeci">int getImageOffsetY() const</div><div class="ttdoc">Getter for image_offset_y_</div><div class="ttdef"><b>Definition:</b> range_image.h:635</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a42e94ffae804608d0a7d2762cddd6fd2"><div class="ttname"><a href="classpcl_1_1_range_image.html#a42e94ffae804608d0a7d2762cddd6fd2">pcl::RangeImage::getRangeImageWithSmoothedSurface</a></div><div class="ttdeci">PCL_EXPORTS void getRangeImageWithSmoothedSurface(int radius, RangeImage &amp;smoothed_range_image) const</div><div class="ttdoc">Project all points on the local plane approximation, thereby smoothing the surface of the scan</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a454c9018fc001c85e9d8df6900ceb0f6"><div class="ttname"><a href="classpcl_1_1_range_image.html#a454c9018fc001c85e9d8df6900ceb0f6">pcl::RangeImage::copyTo</a></div><div class="ttdeci">virtual PCL_EXPORTS void copyTo(RangeImage &amp;other) const</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a46cb318d3d6f1cf6aace8d2ed10ed7fa"><div class="ttname"><a href="classpcl_1_1_range_image.html#a46cb318d3d6f1cf6aace8d2ed10ed7fa">pcl::RangeImage::createEmpty</a></div><div class="ttdeci">void createEmpty(float angular_resolution, const Eigen::Affine3f &amp;sensor_pose=Eigen::Affine3f::Identity(), RangeImage::CoordinateFrame coordinate_frame=CAMERA_FRAME, float angle_width=pcl::deg2rad(360.0f), float angle_height=pcl::deg2rad(180.0f))</div><div class="ttdoc">Create an empty depth image (filled with unobserved points)</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a49c425d518d92def18300cd029ae1855"><div class="ttname"><a href="classpcl_1_1_range_image.html#a49c425d518d92def18300cd029ae1855">pcl::RangeImage::getAverageViewPoint</a></div><div class="ttdeci">static Eigen::Vector3f getAverageViewPoint(const PointCloudTypeWithViewpoints &amp;point_cloud)</div><div class="ttdoc">Get the average viewpoint of a point cloud where each point carries viewpoint information as vp_x,...</div><div class="ttdef"><b>Definition:</b> range_image.hpp:1125</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a4d702bb8f446bb382040e5872b6dbfb1"><div class="ttname"><a href="classpcl_1_1_range_image.html#a4d702bb8f446bb382040e5872b6dbfb1">pcl::RangeImage::getAverageEuclideanDistance</a></div><div class="ttdeci">float getAverageEuclideanDistance(int x, int y, int offset_x, int offset_y, int max_steps) const</div><div class="ttdoc">Doing the above for some steps in the given direction and averaging</div><div class="ttdef"><b>Definition:</b> range_image.hpp:857</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a51bf019906a3256038561354d6b95885"><div class="ttname"><a href="classpcl_1_1_range_image.html#a51bf019906a3256038561354d6b95885">pcl::RangeImage::unobserved_point</a></div><div class="ttdeci">PointWithRange unobserved_point</div><div class="ttdef"><b>Definition:</b> range_image.h:780</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a52164736793c99cc9fc48dedee615e45"><div class="ttname"><a href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">pcl::RangeImage::getPoint</a></div><div class="ttdeci">const PointWithRange &amp; getPoint(int image_x, int image_y) const</div><div class="ttdoc">Return the 3D point with range at the given image position</div><div class="ttdef"><b>Definition:</b> range_image.hpp:479</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a56655a55b4c83c7ce301ca0f020759b4"><div class="ttname"><a href="classpcl_1_1_range_image.html#a56655a55b4c83c7ce301ca0f020759b4">pcl::RangeImage::doZBuffer</a></div><div class="ttdeci">void doZBuffer(const PointCloudType &amp;point_cloud, float noise_level, float min_range, int &amp;top, int &amp;right, int &amp;bottom, int &amp;left)</div><div class="ttdoc">Integrate the given point cloud into the current range image using a z-buffer</div><div class="ttdef"><b>Definition:</b> range_image.hpp:230</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a56821ed68e8701450b4725ed9c6fd7a0"><div class="ttname"><a href="classpcl_1_1_range_image.html#a56821ed68e8701450b4725ed9c6fd7a0">pcl::RangeImage::getAcutenessValueImages</a></div><div class="ttdeci">PCL_EXPORTS void getAcutenessValueImages(int pixel_distance, float *&amp;acuteness_value_image_x, float *&amp;acuteness_value_image_y) const</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a587663a5b4123f4c423c9e38a9b36d41"><div class="ttname"><a href="classpcl_1_1_range_image.html#a587663a5b4123f4c423c9e38a9b36d41">pcl::RangeImage::getPointNoCheck</a></div><div class="ttdeci">const PointWithRange &amp; getPointNoCheck(int image_x, int image_y) const</div><div class="ttdoc">Return the 3D point with range at the given image position. This methd performs no error checking to ...</div><div class="ttdef"><b>Definition:</b> range_image.hpp:488</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a5b6d4bb74fa5134a6c21823dfdcdb13e"><div class="ttname"><a href="classpcl_1_1_range_image.html#a5b6d4bb74fa5134a6c21823dfdcdb13e">pcl::RangeImage::getNormalBasedAcutenessValue</a></div><div class="ttdeci">float getNormalBasedAcutenessValue(int x, int y, int radius) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:926</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a6522dbfac4997c15bd24b0b9b3e9d4dd"><div class="ttname"><a href="classpcl_1_1_range_image.html#a6522dbfac4997c15bd24b0b9b3e9d4dd">pcl::RangeImage::getAngularResolutionX</a></div><div class="ttdeci">float getAngularResolutionX() const</div><div class="ttdef"><b>Definition:</b> range_image.h:358</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a6646c58459dc6780f114039d296d88d4"><div class="ttname"><a href="classpcl_1_1_range_image.html#a6646c58459dc6780f114039d296d88d4">pcl::RangeImage::getTransformationToViewerCoordinateFrame</a></div><div class="ttdeci">Eigen::Affine3f getTransformationToViewerCoordinateFrame(const Eigen::Vector3f &amp;point) const</div><div class="ttdoc">Get the local coordinate frame with 0,0,0 in point, upright and Z as the viewing direction</div><div class="ttdef"><b>Definition:</b> range_image.hpp:1163</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a6b87fa04fd32ec986f1af9149bd46841"><div class="ttname"><a href="classpcl_1_1_range_image.html#a6b87fa04fd32ec986f1af9149bd46841">pcl::RangeImage::getImpactAngle</a></div><div class="ttdeci">float getImpactAngle(const PointWithRange &amp;point1, const PointWithRange &amp;point2) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:620</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a6c3ceb66679ccc84587eef5c29a16386"><div class="ttname"><a href="classpcl_1_1_range_image.html#a6c3ceb66679ccc84587eef5c29a16386">pcl::RangeImage::integrateFarRanges</a></div><div class="ttdeci">void integrateFarRanges(const PointCloudType &amp;far_ranges)</div><div class="ttdoc">Integrates the given far range measurements into the range image</div><div class="ttdef"><b>Definition:</b> range_image.hpp:1222</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a6cb20514cdc04674448a5e5c6cb373bc"><div class="ttname"><a href="classpcl_1_1_range_image.html#a6cb20514cdc04674448a5e5c6cb373bc">pcl::RangeImage::asinLookUp</a></div><div class="ttdeci">static float asinLookUp(float value)</div><div class="ttdef"><b>Definition:</b> range_image.hpp:50</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a6fc3548b0b33e90cead2c1ecfce14c34"><div class="ttname"><a href="classpcl_1_1_range_image.html#a6fc3548b0b33e90cead2c1ecfce14c34">pcl::RangeImage::getAngularResolution</a></div><div class="ttdeci">float getAngularResolution() const</div><div class="ttdef"><b>Definition:</b> range_image.h:354</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a75e39ee2587a56fbdda651c27cc7898e"><div class="ttname"><a href="classpcl_1_1_range_image.html#a75e39ee2587a56fbdda651c27cc7898e">pcl::RangeImage::extractFarRanges</a></div><div class="ttdeci">static PCL_EXPORTS void extractFarRanges(const pcl::PCLPointCloud2 &amp;point_cloud_data, PointCloud&lt; PointWithViewpoint &gt; &amp;far_ranges)</div><div class="ttdoc">Check if the provided data includes far ranges and add them to far_ranges</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a75e51885e151759d815ec1b1b72ea4ff"><div class="ttname"><a href="classpcl_1_1_range_image.html#a75e51885e151759d815ec1b1b72ea4ff">pcl::RangeImage::isObserved</a></div><div class="ttdeci">bool isObserved(int x, int y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:462</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a771ab2f1ee2952a319da20301b27ab3b"><div class="ttname"><a href="classpcl_1_1_range_image.html#a771ab2f1ee2952a319da20301b27ab3b">pcl::RangeImage::isMaxRange</a></div><div class="ttdeci">bool isMaxRange(int x, int y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:471</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a7a53bfc9f4a3365ee8e62513ae37eb5c"><div class="ttname"><a href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">pcl::RangeImage::getImagePoint</a></div><div class="ttdeci">virtual void getImagePoint(const Eigen::Vector3f &amp;point, float &amp;image_x, float &amp;image_y, float &amp;range) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:352</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a7bca09c1eb8be12975c47cb6d6233ca5"><div class="ttname"><a href="classpcl_1_1_range_image.html#a7bca09c1eb8be12975c47cb6d6233ca5">pcl::RangeImage::getNew</a></div><div class="ttdeci">virtual PCL_EXPORTS RangeImage * getNew() const</div><div class="ttdef"><b>Definition:</b> range_image.h:751</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a7f898747aa6a52e484d65babc2600a23"><div class="ttname"><a href="classpcl_1_1_range_image.html#a7f898747aa6a52e484d65babc2600a23">pcl::RangeImage::makeShared</a></div><div class="ttdeci">Ptr makeShared()</div><div class="ttdoc">Get a boost shared pointer of a copy of this</div><div class="ttdef"><b>Definition:</b> range_image.h:125</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a824a6bb27b43a174da775a656b81a483"><div class="ttname"><a href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">pcl::RangeImage::isInImage</a></div><div class="ttdeci">bool isInImage(int x, int y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:441</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a82f6a143de2d73a0ad9fea6c527a2efb"><div class="ttname"><a href="classpcl_1_1_range_image.html#a82f6a143de2d73a0ad9fea6c527a2efb">pcl::RangeImage::createFromPointCloud</a></div><div class="ttdeci">void createFromPointCloud(const PointCloudType &amp;point_cloud, float angular_resolution=pcl::deg2rad(0.5f), float max_angle_width=pcl::deg2rad(360.0f), float max_angle_height=pcl::deg2rad(180.0f), const Eigen::Affine3f &amp;sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)</div><div class="ttdoc">Create the depth image from a point cloud</div><div class="ttdef"><b>Definition:</b> range_image.hpp:94</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a83b475eb983cd9edaea5d97c6d098a7c"><div class="ttname"><a href="classpcl_1_1_range_image.html#a83b475eb983cd9edaea5d97c6d098a7c">pcl::RangeImage::getMinMaxRanges</a></div><div class="ttdeci">PCL_EXPORTS void getMinMaxRanges(float &amp;min_range, float &amp;max_range) const</div><div class="ttdoc">Find the minimum and maximum range in the image</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a843659230146a43690ee4d4fb53fcc92"><div class="ttname"><a href="classpcl_1_1_range_image.html#a843659230146a43690ee4d4fb53fcc92">pcl::RangeImage::angular_resolution_y_reciprocal_</a></div><div class="ttdeci">float angular_resolution_y_reciprocal_</div><div class="ttdef"><b>Definition:</b> range_image.h:776</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a86174b766aa77898e0d49ef11f4613b1"><div class="ttname"><a href="classpcl_1_1_range_image.html#a86174b766aa77898e0d49ef11f4613b1">pcl::RangeImage::real2DToInt2D</a></div><div class="ttdeci">void real2DToInt2D(float x, float y, int &amp;xInt, int &amp;yInt) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:433</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a91cb7406e0e57923a7f5d533ea578c0f"><div class="ttname"><a href="classpcl_1_1_range_image.html#a91cb7406e0e57923a7f5d533ea578c0f">pcl::RangeImage::createFromPointCloudWithViewpoints</a></div><div class="ttdeci">void createFromPointCloudWithViewpoints(const PointCloudTypeWithViewpoints &amp;point_cloud, float angular_resolution, float max_angle_width, float max_angle_height, CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)</div><div class="ttdoc">Create the depth image from a point cloud, using the average viewpoint of the points (vp_x,...</div><div class="ttdef"><b>Definition:</b> range_image.hpp:203</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a9270139a4ebc5b01e91262bba72c1cf5"><div class="ttname"><a href="classpcl_1_1_range_image.html#a9270139a4ebc5b01e91262bba72c1cf5">pcl::RangeImage::getEuclideanDistanceSquared</a></div><div class="ttdeci">float getEuclideanDistanceSquared(int x1, int y1, int x2, int y2) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:842</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a942d6b253c5df68008614af6dfed323a"><div class="ttname"><a href="classpcl_1_1_range_image.html#a942d6b253c5df68008614af6dfed323a">pcl::RangeImage::getSensorPos</a></div><div class="ttdeci">const Eigen::Vector3f getSensorPos() const</div><div class="ttdoc">Get the sensor position</div><div class="ttdef"><b>Definition:</b> range_image.hpp:676</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a9471a00ecde65c754227e155cc234942"><div class="ttname"><a href="classpcl_1_1_range_image.html#a9471a00ecde65c754227e155cc234942">pcl::RangeImage::angular_resolution_y_</a></div><div class="ttdeci">float angular_resolution_y_</div><div class="ttdef"><b>Definition:</b> range_image.h:773</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a962a922e6a1170b1494ee21859087b4e"><div class="ttname"><a href="classpcl_1_1_range_image.html#a962a922e6a1170b1494ee21859087b4e">pcl::RangeImage::setImageOffsets</a></div><div class="ttdeci">void setImageOffsets(int offset_x, int offset_y)</div><div class="ttdoc">Setter for image offsets</div><div class="ttdef"><b>Definition:</b> range_image.h:639</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_ab0419b66dd9e76fbc6d568049abfad3c"><div class="ttname"><a href="classpcl_1_1_range_image.html#ab0419b66dd9e76fbc6d568049abfad3c">pcl::RangeImage::setTransformationToRangeImageSystem</a></div><div class="ttdeci">void setTransformationToRangeImageSystem(const Eigen::Affine3f &amp;to_range_image_system)</div><div class="ttdef"><b>Definition:</b> range_image.hpp:1206</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_ab124a58f66b1d9a5d0f433c8474ef2b4"><div class="ttname"><a href="classpcl_1_1_range_image.html#ab124a58f66b1d9a5d0f433c8474ef2b4">pcl::RangeImage::getRangesArray</a></div><div class="ttdeci">PCL_EXPORTS float * getRangesArray() const</div><div class="ttdoc">Get all the range values in one float array of size width*height</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_ab38c579faf678914119d4190b0068ab6"><div class="ttname"><a href="classpcl_1_1_range_image.html#ab38c579faf678914119d4190b0068ab6">pcl::RangeImage::getRotationToViewerCoordinateFrame</a></div><div class="ttdeci">void getRotationToViewerCoordinateFrame(const Eigen::Vector3f &amp;point, Eigen::Affine3f &amp;transformation) const</div><div class="ttdoc">Same as above, but only returning the rotation</div><div class="ttdef"><b>Definition:</b> range_image.hpp:1180</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_ab39a4eac61ba75bb9f2913a1ff3ec84d"><div class="ttname"><a href="classpcl_1_1_range_image.html#ab39a4eac61ba75bb9f2913a1ff3ec84d">pcl::RangeImage::getHalfImage</a></div><div class="ttdeci">virtual void getHalfImage(RangeImage &amp;half_image) const</div><div class="ttdoc">Get a range image with half the resolution</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_abdbfb655cdfeb5d8ace1ac841a52a524"><div class="ttname"><a href="classpcl_1_1_range_image.html#abdbfb655cdfeb5d8ace1ac841a52a524">pcl::RangeImage::angular_resolution_x_</a></div><div class="ttdeci">float angular_resolution_x_</div><div class="ttdef"><b>Definition:</b> range_image.h:772</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_abf1ce91a6aae13aefb5d3026273eb108"><div class="ttname"><a href="classpcl_1_1_range_image.html#abf1ce91a6aae13aefb5d3026273eb108">pcl::RangeImage::getSurfaceInformation</a></div><div class="ttdeci">bool getSurfaceInformation(int x, int y, int radius, const Eigen::Vector3f &amp;point, int no_of_closest_neighbors, int step_size, float &amp;max_closest_neighbor_distance_squared, Eigen::Vector3f &amp;normal, Eigen::Vector3f &amp;mean, Eigen::Vector3f &amp;eigen_values, Eigen::Vector3f *normal_all_neighbors=NULL, Eigen::Vector3f *mean_all_neighbors=NULL, Eigen::Vector3f *eigen_values_all_neighbors=NULL) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:966</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_ac503c8e060a6f6b1cae1c1fa87fa6e33"><div class="ttname"><a href="classpcl_1_1_range_image.html#ac503c8e060a6f6b1cae1c1fa87fa6e33">pcl::RangeImage::getTransformationToRangeImageSystem</a></div><div class="ttdeci">const Eigen::Affine3f &amp; getTransformationToRangeImageSystem() const</div><div class="ttdef"><b>Definition:</b> range_image.h:339</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_ac504743608967dcd142dc4249b82ea5a"><div class="ttname"><a href="classpcl_1_1_range_image.html#ac504743608967dcd142dc4249b82ea5a">pcl::RangeImage::getMaxAngleSize</a></div><div class="ttdeci">static float getMaxAngleSize(const Eigen::Affine3f &amp;viewer_pose, const Eigen::Vector3f &amp;center, float radius)</div><div class="ttdoc">Get the size of a certain area when seen from the given pose</div><div class="ttdef"><b>Definition:</b> range_image.hpp:788</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_ac6a22e10be8bfcedf9297d1e1badef1c"><div class="ttname"><a href="classpcl_1_1_range_image.html#ac6a22e10be8bfcedf9297d1e1badef1c">pcl::RangeImage::getCurvature</a></div><div class="ttdeci">float getCurvature(int x, int y, int radius, int step_size) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:1100</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_accadf69890d534cfcb0f9d65c60feaac"><div class="ttname"><a href="classpcl_1_1_range_image.html#accadf69890d534cfcb0f9d65c60feaac">pcl::RangeImage::getInterpolatedSurfaceProjection</a></div><div class="ttdeci">PCL_EXPORTS float * getInterpolatedSurfaceProjection(const Eigen::Vector3f &amp;point, int pixel_size, float world_size) const</div><div class="ttdoc">Same as above, but using the local coordinate frame defined by point and the viewing direction</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_accb0781e43e55cff62851019ffac47ce"><div class="ttname"><a href="classpcl_1_1_range_image.html#accb0781e43e55cff62851019ffac47ce">pcl::RangeImage::getNormalForClosestNeighbors</a></div><div class="ttdeci">bool getNormalForClosestNeighbors(int x, int y, int radius, const PointWithRange &amp;point, int no_of_nearest_neighbors, Eigen::Vector3f &amp;normal, int step_size=1) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:938</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_acd539d95dd7bbbd1d67db12e9be275b0"><div class="ttname"><a href="classpcl_1_1_range_image.html#acd539d95dd7bbbd1d67db12e9be275b0">pcl::RangeImage::reset</a></div><div class="ttdeci">PCL_EXPORTS void reset()</div><div class="ttdoc">Reset all values to an empty range image</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_ad37bc4a8aab3d63ee7c9ef9428239f00"><div class="ttname"><a href="classpcl_1_1_range_image.html#ad37bc4a8aab3d63ee7c9ef9428239f00">pcl::RangeImage::getViewingDirection</a></div><div class="ttdeci">bool getViewingDirection(int x, int y, Eigen::Vector3f &amp;viewing_direction) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:1146</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_ad4f7d854c4f15ab0ab2193cc726c353f"><div class="ttname"><a href="classpcl_1_1_range_image.html#ad4f7d854c4f15ab0ab2193cc726c353f">pcl::RangeImage::setUnseenToMaxRange</a></div><div class="ttdeci">PCL_EXPORTS void setUnseenToMaxRange()</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_ada8177479f0e95999a66294db4c0c3eb"><div class="ttname"><a href="classpcl_1_1_range_image.html#ada8177479f0e95999a66294db4c0c3eb">pcl::RangeImage::to_range_image_system_</a></div><div class="ttdeci">Eigen::Affine3f to_range_image_system_</div><div class="ttdef"><b>Definition:</b> range_image.h:770</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_adbb1466576e6c2d08e3065b67da0b250"><div class="ttname"><a href="classpcl_1_1_range_image.html#adbb1466576e6c2d08e3065b67da0b250">pcl::RangeImage::angular_resolution_x_reciprocal_</a></div><div class="ttdeci">float angular_resolution_x_reciprocal_</div><div class="ttdef"><b>Definition:</b> range_image.h:774</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_addd0bcec3d51c70ac205bbfc75dd8c18"><div class="ttname"><a href="classpcl_1_1_range_image.html#addd0bcec3d51c70ac205bbfc75dd8c18">pcl::RangeImage::getOverlap</a></div><div class="ttdeci">PCL_EXPORTS float getOverlap(const RangeImage &amp;other_range_image, const Eigen::Affine3f &amp;relative_transformation, int search_radius, float max_distance, int pixel_step=1) const</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_adfd931443541e194f1c53d5f7b1c43e6"><div class="ttname"><a href="classpcl_1_1_range_image.html#adfd931443541e194f1c53d5f7b1c43e6">pcl::RangeImage::getImagePointFromAngles</a></div><div class="ttdeci">void getImagePointFromAngles(float angle_x, float angle_y, float &amp;image_x, float &amp;image_y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:425</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_ae74c34594e1417fb702d92ff51f2b495"><div class="ttname"><a href="classpcl_1_1_range_image.html#ae74c34594e1417fb702d92ff51f2b495">pcl::RangeImage::createLookupTables</a></div><div class="ttdeci">static void createLookupTables()</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_aea43fc18a9695437879d4b3b3860a9ae"><div class="ttname"><a href="classpcl_1_1_range_image.html#aea43fc18a9695437879d4b3b3860a9ae">pcl::RangeImage::getRangeDifference</a></div><div class="ttdeci">float getRangeDifference(const Eigen::Vector3f &amp;point) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:405</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_aeb21e9a192704802adabd6693f00e397"><div class="ttname"><a href="classpcl_1_1_range_image.html#aeb21e9a192704802adabd6693f00e397">pcl::RangeImage::getNormal</a></div><div class="ttdeci">bool getNormal(int x, int y, int radius, Eigen::Vector3f &amp;normal, int step_size=1) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:900</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_aecd52c29445543d03e40f0d75c8120c0"><div class="ttname"><a href="classpcl_1_1_range_image.html#aecd52c29445543d03e40f0d75c8120c0">pcl::RangeImage::getImpactAngleImageBasedOnLocalNormals</a></div><div class="ttdeci">PCL_EXPORTS float * getImpactAngleImageBasedOnLocalNormals(int radius) const</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_af18b2d3410fb7799ad4de375b51df035"><div class="ttname"><a href="classpcl_1_1_range_image.html#af18b2d3410fb7799ad4de375b51df035">pcl::RangeImage::RangeImage</a></div><div class="ttdeci">PCL_EXPORTS RangeImage()</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_af4891c9812652efe513b9ff060490364"><div class="ttname"><a href="classpcl_1_1_range_image.html#af4891c9812652efe513b9ff060490364">pcl::RangeImage::getAngularResolutionY</a></div><div class="ttdeci">float getAngularResolutionY() const</div><div class="ttdef"><b>Definition:</b> range_image.h:362</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_af5c0908bfbe060fdb517728fe56b2c55"><div class="ttname"><a href="classpcl_1_1_range_image.html#af5c0908bfbe060fdb517728fe56b2c55">pcl::RangeImage::getCoordinateFrameTransformation</a></div><div class="ttdeci">static PCL_EXPORTS void getCoordinateFrameTransformation(RangeImage::CoordinateFrame coordinate_frame, Eigen::Affine3f &amp;transformation)</div><div class="ttdoc">Get the transformation that transforms the given coordinate frame into CAMERA_FRAME</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_afa9ecf76f97e99ede5b71bb7da6c1715"><div class="ttname"><a href="classpcl_1_1_range_image.html#afa9ecf76f97e99ede5b71bb7da6c1715">pcl::RangeImage::createEmpty</a></div><div class="ttdeci">void createEmpty(float angular_resolution_x, float angular_resolution_y, const Eigen::Affine3f &amp;sensor_pose=Eigen::Affine3f::Identity(), RangeImage::CoordinateFrame coordinate_frame=CAMERA_FRAME, float angle_width=pcl::deg2rad(360.0f), float angle_height=pcl::deg2rad(180.0f))</div><div class="ttdoc">Create an empty depth image (filled with unobserved points)</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_afbb553405d9b1df2b10b08c98c052250"><div class="ttname"><a href="classpcl_1_1_range_image.html#afbb553405d9b1df2b10b08c98c052250">pcl::RangeImage::createFromPointCloudWithKnownSize</a></div><div class="ttdeci">void createFromPointCloudWithKnownSize(const PointCloudType &amp;point_cloud, float angular_resolution, const Eigen::Vector3f &amp;point_cloud_center, float point_cloud_radius, const Eigen::Affine3f &amp;sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)</div><div class="ttdoc">Create the depth image from a point cloud, getting a hint about the size of the scene for faster calc...</div><div class="ttdef"><b>Definition:</b> range_image.hpp:142</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_afd94afe865f6cd46cfbc64f45bb1d03e"><div class="ttname"><a href="classpcl_1_1_range_image.html#afd94afe865f6cd46cfbc64f45bb1d03e">pcl::RangeImage::getSurfaceAngleChange</a></div><div class="ttdeci">void getSurfaceAngleChange(int x, int y, int radius, float &amp;angle_change_x, float &amp;angle_change_y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:683</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_afdff6ffbb3bfec294637225b5fb82956"><div class="ttname"><a href="classpcl_1_1_range_image.html#afdff6ffbb3bfec294637225b5fb82956">pcl::RangeImage::getTransformationToWorldSystem</a></div><div class="ttdeci">const Eigen::Affine3f &amp; getTransformationToWorldSystem() const</div><div class="ttdef"><b>Definition:</b> range_image.h:349</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="agroup__common_html_ga25b0ce695e2a10abb0130bcb5cf90eb6"><div class="ttname"><a href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a></div><div class="ttdeci">float deg2rad(float alpha)</div><div class="ttdoc">Convert an angle from degrees to radians</div><div class="ttdef"><b>Definition:</b> angles.hpp:67</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> PCLPointCloud2.h:21</div></div>
<div class="ttc" id="astructpcl_1_1_point_with_range_html"><div class="ttname"><a href="structpcl_1_1_point_with_range.html">pcl::PointWithRange</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, padded with an extra range float.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1055</div></div>
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